CN109715494B - Open and closed loop control of actuators driving an aerodynamic control surface of an aircraft - Google Patents
Open and closed loop control of actuators driving an aerodynamic control surface of an aircraft Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
- B64C13/503—Fly-by-Wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The invention relates to an open-loop and closed-loop control of n actuators A driving an aerodynamic control surface (102) of an aircraft n (101) In which N =1,2, a.., N, and N ≧ 1, the device comprises a first interface (104) and/or a second interface (103), a unit (105) at which manual input by the pilot at an input device (110) is generated and provided for open-loop control of the actuator a n (101) Preset value SV of Pilot At said second interface, an actuator A for open loop control is generated and provided by an automatic flight controller (109) of the aircraft n (101) Preset value SV of AutoPilot According to each actuator A n (101) Preset value SV pilot And/or SV AutoPilote Calculating open-loop control actuator A n (101) Reference variable F An,soll Wherein the reference variable F An,soll A desired force or a desired torque, and each actuator A n (101) Each having a drive for said actuator A n Closed-loop controlled force/moment controller REG n The actuator A n According to said corresponding reference variable F An,soll And/or
And the force/moment controlled variable F generated by the actuator An And/or time derivatives thereof
The control variable being sensed by sensing means S1 n Detection, said sensing means S1 n Are respectively positioned at the actuators A n (101) Upper or said actuator A n (101) In, or at, said actuators A n (101) In the drive train of (1).
Description
Technical Field
The present invention relates to a device and a method for open-loop and closed-loop control of actuators driving aerodynamic control surfaces of an aircraft. The invention also relates to an aircraft having such a device.
Background
In the prior art, actuators driving aerodynamic control surfaces of aircraft (e.g., ailerons, rudders, elevators, spoilers, speed brakes, slats, etc.) are position controlled. Therefore, the position or angle reference variable and, if necessary, the time derivative thereof are usually preset for the actuator, and the actuator is controlled by the respective controller in accordance with the respective control variable currently acquired.
Typically, the position control is not flexible, which results in high loads on the control surfaces, and in the case of gusts affecting the control surfaces, in turn, on the actuators. To avoid instability, position controlled actuators are typically conservatively set due to friction within the actuator. Non-linear actuators or highly non-linear actuators are not ideal for position control.
DE 10 2011 115 A1 discloses an electronic device for positioning actuators, wherein the electronic device can be directly or indirectly mounted on the actuators and/or at least partially integrated into the actuators, and wherein the electronic device is adapted to receive commands from a flight control computer for controlling and/or closing the actuators.
DE 10 2011 115 A1 discloses an electronically controlled flight control system for a flight control actuator, wherein the signal transmission between the flight control devices is realized via a data bus, so that a distributed bus-oriented electronic flight control system is realized.
A method for monitoring an aircraft is known from EP 2772 a 816 A1. The method includes collecting signal inputs from a pilot input interface, calculating response values for open and closed loop control systems for the aerodynamic control surfaces of the aircraft based on the model and the pilot inputs, and outputting a warning when the open and closed loop control systems reach a threshold value.
A backup controller suitable for use in distributed flight open-loop and closed-loop control systems for aircraft is known from WO 2007/084679 A2.
A method for reducing the vertical positioning error of an aircraft is known from US 8,275,496 B2. In the method, a vertical disturbance acting on the aircraft is detected and it is checked whether the disturbance exceeds a given threshold value. If the threshold value is exceeded, a rising signal is detected and the position of the control surface is controlled in this way.
From US 7,424,989 B2 a method of damping a wing is known, in which method actuators of control surfaces of the wing are triggered by vibration-antiphase control signals.
A method for controlling an aircraft surface is known from US 5 593 a.
From US 2016/0096616 A1 an apparatus and a method for operating a flight control system performing load compensation are known.
A method for torque control of an actuator of a flight control system is known from US 2014/163783 A1.
Disclosure of Invention
The present invention seeks to provide a device and method for rapid and efficient open and closed loop control of actuators driving an aerodynamic control surface of an aircraft.
The invention results from the features of the independent claims. The dependent claims relate to advantageous developments and embodiments. The following description of the invention and the explanation of the illustrated embodiments set forth additional features, utilities, and advantages of the invention.
A first aspect of the invention relates to an open-loop and closed-loop control of n actuators A driving an aerodynamic control surface of an aircraft n N =1,2, …, N, where N is equal to or greater than 1.
The term "aircraft" includes all aircraft that are currently heavier or lighter than air, in particular fixed-wing aircraft, helicopters, airships, quadcopters and drones. The aircraft may be configured for manual control and/or may be equipped with automatic flight controls to enable automatic operation of the aircraft.
The "actuator" may in particular be a hydraulic actuator, an electric motor-driven actuator (for example comprising an electric motor with or without gearing). Typically, the actuators are connected to the respective control surfaces by mechanical means (drive trains) so that the control surfaces are movable by the actuators. For redundancy, advantageously, one control surface is driven by at least two actuators.
The term "control surfaces" includes all control surfaces which are articulated and adjustable by actuators and by means of which targeted displacements of the aircraft in flight can be brought about, in particular ailerons, rudders, elevators, spoilers, rotor blades, propeller blades, retarders, slats, etc.
The device provided according to the invention comprises a first interface at which an open-loop control actuator A is generated and provided by manual input of the pilot in the input device, and/or a second interface n Preset value SV of Pilot At said second interface, an open-loop control actuator A is generated and provided by an automatic flight controller of the aircraft n Preset value SV of AutoPilot 。
Advantageously, the input means comprise a rudder pedal for presetting the rudder position of the aircraft, and means for inputting the preset values of the aileron and/or elevator position. The latter means may be, in particular, so-called side levers, or steering angles, or steering levers.
Advantageously, the autopilot controller is an autopilot system that is applied and configured to enable autonomous flight driving. Advantageously, the preset values are: SV Pilot And SV AutoPilot Are vectors, the vector elements of which are provided for each actuator a n And/or a set of actuators A n Preset values (control information). Advantageously, the first interface and the second interface are present on a manned aircraft. Advantageously, only said second interface is present on the drone.
The device according to the invention also comprises a unit according to the actuators a provided by the interface described above n Preset value SV of Pilot And/or SV AutoPilot Calculating open loop control of the actuator A n Reference variable F An,soll And/or time derivatives thereof
Wherein reference variable F An,soll For a desired force or a desired moment, each actuator A n Each having a drive for said actuator A n Closed-loop controlled force/torque controller REG n The actuator A n According to said corresponding reference variable F An,soll And/or
And as control variable by actuator A n Generated force/moment F An And/or time derivatives thereof
The control variable being sensed by sensing means S1 n Detection, said sensing means S1 n Are respectively positioned at the actuators A n Upper or said actuator A n Within, or at, said actuators A n In the drive train of (1).
Thus, unlike position control used in the prior art, the control strategy of such actuators of the present invention is switched to force/torque controlled attachments. It has inter alia the following advantages: the control surfaces provide flexible, or resilient, feedback of external gust loads acting on the control surfaces in response to force control. When external gusts occur, the loads acting on the actuators, control surfaces and aircraft structure are reduced. Force control enables fast closed loop control, since the actuator power can be better utilized, which is especially advantageous when there is an influence of an external gust or when the flight state is changed fast. Of course, not all aircraft actuators driving control surfaces must be closed loop controlled according to the force/torque based closed loop control scheme provided, so that one or more aircraft control surfaces can also be driven by a position controlled actuator.
By the provided control strategy (Force/torque based closed loop control), the so-called Force-Fight problem is also solved. When there is a deviation in the control variable for the current position of each actuator, a force opposition occurs on the control surfaces driven by the actuators controlled by two or more positions. The deviation is different for different actuators.
Advantageous improvements of the provided device are highlighted by the force/torque controllers REG n Each having a processor PR n The processor PR n At processor clock frequency PT n Working operation, said unit having a processor PR E The processor PR E At processor clock frequency PT E Working operation in which PT n >PT E In particular PT n >2PT E . This enables, in particular, a correspondingly fast and effective closed-loop control of the actuator concerned when there is a gust of wind acting on the control surface from the outside.
According to the invention, the device provided is further characterized in that each of said actuators a is a n Respectively provided with a sensing device S2 n Said sensing means S2 n Detecting the actuator A n Current position POS An Or the actuator A n The current position of the corresponding control surface and providing said current position to said force/torque controller REG n . The term "current position POS An "in the present invention includes in particular radial and angular positions. Advantageously, said sensing means S2 n There are position sensors or angle sensors, by means of which the current position or the current angle is measured. Alternatively, or additionally, the sensing means S2 n There is a device for estimating the current position or current angle, which detects or estimates the position or angle based on other measurements, such as current or voltage. For each actuator, corresponding drive train or corresponding control surface, the current position POS An Can be detected.
According to the invention, the provided device is further characterized in that the force/torque controller REG n Thus controlling the actuator A in a closed loop n : the position POS An Limited to the interval I1 An :＝[Min(POS An ), Max(POS An )]In the interior of the container body,where Min (POS) An )≤POS An ≤Max(POS An ) The interval I1 An By a given interval boundary Min (POS) An ),Max(POS An ) Wherein each given interval I1 An In the interval I2 An [Min mech (POS An ),Max mech (POS An )]In the interval I2 An Each interval final value Min mech (POS An ),Max mech (POS An ) For position values, the actuators A n Or its corresponding control surface, is mechanically limited to the position value. This is based on having the above-mentioned sensing means S2 n . Thus, such "virtual terminal strikes or limits" define the movement of each actuator and its corresponding control surface. Advantageously, said interval I1 An Is less than the interval I2 An The interval length of (2). Further advantageously, said interval I1 An Thus located in said interval I2 An So that the interval I1 An And the interval I2 An Are spaced apart at intervals. Hereby, it is possible to limit the amplitude of the actuator or control surface and at the same time to counteract mechanical movements of the actuator or control surface, which correspondingly increases the service life.
To implement the closed-loop control described above, according to the invention, the function F (Pos) An ) Through said interval I1 An Is defined, its value | F (Pos) An ) L in the range Min (POS) only An ),Max(POS An ) Internally not negligible, wherein said function F (POS) An ) Can be selected as follows: make | F (Min (POS) An ))|＝|F An,soll I and I F (Max (POS) An ))|＝|F An,soll And controlling the variable F An Feeding back to the force/torque controller REG n So that F An ＝F An –F(POS An )。
Advantageously, said interval boundary Min (POS) An ),Max(POS An ) Depending on the current dynamic state provided, and/or depending on the current settings of the aircraft, and/or depending on the current settings of the respective force/moment controller REG n (106) Parameters selected to describe ambient air. The dynamic state includes the following state values: flight speed, flight altitude, gravity coefficient, attack angle, yaw angle, roll angle, and the time-dependent change values of the above state values. The current settings of the aircraft are described, for example, as to whether the landing gear is down or up, which valves are set, etc. The air parameters are, for example, air temperature, air pressure, air humidity and air density. The variable, specifiable range limits and the variable, specifiable, virtual limiting ranges, such as the rudder amplitude range or the range of the displaceable valve, ensure flight safety, since they optimize/limit the control, setting and the parameters describing the ambient air of the aerodynamic control surfaces in the dynamic state.
Further improvements of the device provided stand out in having control of the actuator a n In which, when the section boundary Min (POS) is reached An ),Max(POS An ) From the force/torque controller to the position controller.
Advantageous improvements of the provided device are highlighted by the control variable F An Feeding back to the force/torque controller REG n So that F An Satisfies the following conditions: f An ＝F* An +F G Wherein F is G Is a constant balancing force acting on said control surfaces and/or said actuators A n Gravity compensation of the drive train of (1), or F G Is a self-balancing function, said self-balancing function being dependent on the POS An And/or time t. Advantageously, such that F G Satisfies the following conditions: d (F) G )/dt＝k×F An,soll Where k is a given constant. Said function F G A constant to trim constants and/or to compensate for gravitational forces acting on the respective control surfaces, or a weakly enhanced binding term. The improvement enables compensation of external forces acting on the actuator and storage or maintenance of the current actuator position POS An So that the trimmed aircraft will continue to fly in the event of a control signal (reference variable) failure.
Advantageous improvements of the device provided are highlighted by the control variable F An Is fed back to theForce/moment controller REG n So that: f An ＝F* An +F D Or F An ＝F* An +F G +F D Wherein, F is D Satisfies the following conditions: f D ＝d(POS An ) And/dt multiplied by D, D is virtual damping.
Advantageous improvements of the device provided are highlighted by the control variable F An Feeding back to the force/torque controller REG n So that F An ＝F* An +F S Or F An ＝F* An +F G +F S Or F An ＝F* An +F D +F S Or F An ＝F* An +F D +F G +F S In which F is caused S Satisfy F S ＝(POS An －POS ref ) XS, S is the virtual stiffness, POS ref Is a neutral position of each of the control surfaces, wherein the neutral position POS ref The definition is: the relevant control surfaces do not generate moments that trigger the movement of the aircraft.
The three improvements described above allow to compensate for external forces acting on the actuator and to store or maintain the current actuator position POS An So that the plane being trimmed continues to fly in the event of a control signal (reference variable) failure.
Advantageous improvements of the device provided are highlighted by the actuator a n Having an electric motor as a power unit. Advantageously, the associated sensor device S1 n There are current sensors for measuring the respective operating currents of the electric motor. This enables a current actuator torque to be detected or estimated easily, since the motor torque is directly linked to the motor current. The static friction, which may cause a deviation of the estimate, can be interrupted at a high frequency by the knock-Pulse-Verfahren, which enables the torque estimate to be optimized to a large extent from the measurement of the engine current.
An advantageous refinement of the device provided is distinguished in that the moment about the same aircraft axis (longitudinal, transverse, vertical) is triggered at the first interface for a plurality of actuators of the respective control surface,is the actuator A n Providing weighted control variables<F* An >And/or weighted location<POS An >To enable resultant force feedback at the input device (110) for the aircraft axes. For example, once the pilot pulls on the stick of the cockpit, a command is issued for the aircraft to move along the transverse axis. To perform such a movement, the elevator moves. Typically, two or more actuators trigger the elevator. Dependent on said improvement, e.g. control variables for the combined force feedback of these actuators<F* An >Are weighted. Further, in addition to elevators, other aircraft control surfaces may be triggered to execute movement along a lateral axis. According to said improvement, e.g. also relating to the control variables of these actuators<F* An >The aforementioned weights.
Advantageous improvements of the provided device are distinguished by one or more force/torque controllers REG n With reference variable pre-control according to F An,soll ，F An Or F An And POS An Counteracting the actuator A n Friction and/or power within and/or counteracting friction and/or power within the respective drive trains of the actuators including the control surfaces. In particular, a high air force acts on the control surfaces which oppose the oscillations of the air flow, said air force being transferred to the actuator via the drive train. Reference variable pre-control may in particular optimize actuator power.
A second aspect of the invention relates to an aircraft having said device. Advantageously, the aircraft force/torque controller REG n Arranged at each of said respective actuators A n On or with said actuators A n Are connected with each other. This enables a reduction in signal transmission time between the sensor and the controller, thereby reducing actuator response time. Advantageously, the aircraft input device has a rudder pedal and a side bar or joystick or steering angle.
An advantageous development of the aircraft lies in the embodiment of the device according to the invention and is obtained by a similar meaningful conversion.
A third aspect of the invention relates toAnd an actuator A for open-loop and closed-loop control of n aerodynamic control surfaces of a driven aircraft n (101) N =1,2. The method comprises the following steps: in a first step, the actuator A is controlled by the pilot generating an open loop by manual input at the input device n Preset value SV of Pilot . Alternatively, or additionally, the actuator A is controlled by an automatic flight controller generation open loop of the aircraft n Preset value SV of AutoPilot . Second, according to each actuator A n Preset value SV of Pilot And/or SV AutoPilot Calculating open loop control of the actuator A n (101) Reference variable F An,soll Wherein the reference variable F An,soll Either a desired force or a desired torque. Force/moment controller REG n Closed-loop control of said actuators A n Said closed-loop control being dependent on said corresponding reference variable F An,soll And as a control variable the force/torque F generated by the actuator An Or alternatively
The control variable being sensed by sensing means S1 n Detection, said sensing means S1 n Are respectively positioned at the actuators A n Upper or said actuator A n Within, or at, said actuators A n In the drive train of (1).
Advantageous improvements of the method are highlighted by the force/torque controllers REG n Each having a processor PR n The processor PR n At processor clock frequency PT n In operation, the unit 105 has a processor PR E The processor PR E At processor clock frequency PT E Operation in which PT n > PT E In particular PT n >2PT E 。
According to the invention, the method is further characterized in that each actuator A is provided with a control device for controlling the actuators A n Respectively provided with a sensing device S2 n Said sensing means S2 n Detecting the actuator A n 101 current position POS An Or the actuator A n 101, and providing said current position to said force/torque controller REG n 106。
According to the invention, the method is further characterized in that the force/torque controller REG n Thus closed-loop controlling the actuator A n : the position POS An Limited to the interval I1 An :＝[Min(POS An ), Max(POS An )]In, where Min (POS) An )≤POS An ≤Max(POS An ) The interval I1 An By a given interval boundary Min (POS) An ),Max(POS An ) Wherein each given interval I1 An In the interval I2 An [Min mech (POS An ),Max mech (POS An )]In the interval I2 An Each interval final value Min mech (POS An ),Max mech (POS An ) For position values, the actuators A n Or its corresponding control surface, is mechanically limited to the position value.
Advantageous improvements of the method highlight the interval I1 An Is less than the interval I2 An The interval length of (2). Advantageously, said interval I1 An Is located in the interval I2 An A center.
According to the invention, the method is further characterized by passing through the interval I1 An Defining a function F (Pos) An ) Value of | F (Pos) An ) In the interval range Min (POS) only An ),Max(POS An ) Internally not negligible, wherein said function F (POS) An ) Can be selected as follows: so that | F (Min (POS) An ))|＝|F An,soll I and I F (Max (POS) An ))|＝|F An,soll And controlling the variable F An Feeding back to the force/torque controller REG n So that F An ＝F An –F(POS An )。
Advantageous improvements of the method are highlighted by the interval boundary Min (POS) An) ,Max(POS An ) Depending on the current dynamic state provided, and/or on the forces/moments providedController REG n The current settings of the selected aircraft.
Advantageous improvements of the method are highlighted by the control variable F An Feeding back to the force/torque controller REG n So that F An Satisfies the following conditions: f An ＝F* An +F G Wherein F is G Is a constant balancing force acting on said control surfaces and/or said actuators A n Gravity compensation of the drive train, or F G Is a self-balancing function that depends on the POS An And/or time t. Advantageously, such that F G Satisfies the following conditions: d (F) G )/dt＝k×F An,soll Where k is a given constant.
Advantageous improvements of the method are highlighted by the control variable F An Feeding back to the force/torque controller REG n So that: f An ＝F* An +F D Or F An ＝F* An +F G +F D Wherein, F is D Satisfies the following conditions: f D ＝d(POS An ) Dt × D, where D is the virtual damping.
Advantageous improvements of the method are highlighted by the control variable F An Feeding back to the force/torque controller REG n So that F An ＝F* An +F S Or F An ＝F* An +F G +F S Or F An ＝ F* An +F D +F S Or F An ＝F* An +F D +F G +F S In which F is caused S Satisfy F S ＝(POS An －POS ref ) XS, S is the virtual stiffness, POS ref Is a neutral position of each of the control surfaces, wherein the neutral position POS ref The definition is: the relevant control surfaces do not generate moments that trigger the movement of the aircraft.
An advantageous development of the method is distinguished in that a plurality of actuators for the respective control surfaces at the first interface trigger a moment about the same aircraft axis (longitudinal, transverse, vertical), for the actuator a n Providing weighted control variables<F* An >And/or weighted location<POS An >To enable resultant force feedback at the input device for each aircraft axis.
Advantageous improvements of the method are distinguished by one or more force/torque controllers REG n 106. With reference variable pre-control according to F An,soll ，F An Or F An And POS An Counteracting said actuator A n Friction and/or power within and/or counteracting friction and/or power within the respective drive trains (of the actuators, including the control surfaces) of the actuators.
The advantage of the method lies in the embodiment of the device according to the invention and is obtained by a similar meaningful transformation.
Another aspect of the invention relates to a computer system having a data processing device, wherein the data processing device is arranged such that the method as described above is executable in the data processing device.
Another aspect of the invention relates to a digital storage medium with electronically readable control signals, wherein the control signals are capable of interacting with a programmable computer system such that a method as described above is performed.
Another aspect of the invention relates to a computer program product with program code stored on a machine-readable carrier for performing the above method when the program code is executed on a data processing apparatus.
Another aspect of the invention relates to a computer program having a program code for performing the method when the program is run on a data processing apparatus. The data processing device may be provided as an optional computer system as known in the art.
Additional advantages, features and specific details are set forth in the following description and, where necessary, in conjunction with the drawings, at least one embodiment is described in detail. Identical, similar and/or functionally identical parts are provided with the same reference signs.
Drawings
Figure 1 is a schematic view of the structure of a device according to the invention,
fig. 2 is a schematic diagram of the method steps according to the invention.
Detailed Description
FIG. 1 illustrates open and closed loop control of n actuators A driving an aerodynamic control surface 102 of an aircraft according to the present invention n 101, N =1,2, N ≧ 1.
The device includes a first interface 104 at which open loop control of the actuator a is generated and provided by manual input by a pilot in an input device 110 n (Current: elevator, aileron, rudder) Preset value SV Pilot Said input means currently comprising: a rudder pedal and a steering angle. Further, the device also comprises a second interface 103 at which an open loop control actuator A is generated and provided by an auto flight controller 109 (currently: an aircraft autopilot) of the aircraft n 101 preset value SV AutoPilot . For simplicity, FIG. 1 shows only n actuators A n 101, respectively.
The first interface 104 and the second interface 103 are part of the cell 105. The unit 105 is arranged in accordance with each actuator A n 101 preset value SV Pilot And/or SV AutoPilot Calculating open loop control of the actuator A n 101 reference variable F An,soll Wherein the reference variable F An,soll Is the desired torque.
The device further comprises actuators A n 101 each have a respective one for said actuator a n 101 force/torque controller REG for closed-loop control n 106, the actuator a n According to said corresponding reference variable F An,soll And their time derivatives
And by the actuator A n 101 generated force/moment control variable F An And the time derivative thereof
The control variable being sensed by sensing means S1 n (not shown in the figure) detection, said sensing means S1 n Are respectively positioned at the actuators A n Upper or said actuator A n Within, or at, said actuators A n In the drive train of (1).
The illustrated apparatus also includes a reference variable pre-control 107, which is based on F An,soll ，
F An And
compensating said actuator A n 101, and compensating for friction in said actuators a n 101 and compensating for control surface vibrations acting on said control surface 102 in accordance with F An,soll The resulting desired air force. The reference variable pre-control 107 and the torque controller REG n The output of 106 is also input to a totalizer 108 and is input to the actuator 101 as a control variable. The actuator thus triggers movement of the control surface 102. The reference variable pre-control 107 generates a control variable S as an output signal FV . The torque controller REG n 106 generate a control variable S as an output signal RE . The totalizer 108 calculates a control variable S from the two input control variables SOLL ＝S FV +S RE 。
FIG. 2 illustrates open and closed loop control of n actuators A driving an aerodynamic control surface 102 of an aircraft according to the present invention n 101, N =1,2,.. Multidot.n, and N is not less than 1. The method comprises the following steps: in a first step 201, an open-loop control actuator A is generated by manual input from a pilot at an input device n Preset value SV of Pilot And/or generating an open-loop control actuator A by an automatic flight controller of the aircraft n Is preset inValue SV AutoPilot . Second step 202, according to each actuator A n Preset value SV of Pilot And/or SV AutoPilot Calculating the open-loop control actuator A n 101 reference variable F An,soll And time derivative thereof
Wherein the reference variable F An,soll Either a desired force or a desired torque.
A third step 203 of determining a corresponding reference variable F An,soll 、
And by said actuator A n Generated force/moment controlled variable F An Force/moment controller REG n 106 closed-loop control of said actuators A n 101, said control variable being sensed by sensing means S1 n Detection, said sensing means S1 n Are respectively positioned at the actuators A n Upper or said actuator A n Within, or at, said actuators A n In the drive train of (1).
Although the present invention has been further described in detail with reference to preferred embodiments thereof, it is not intended to be limited to the embodiments disclosed, and other modifications can be made by one skilled in the art without departing from the scope of the invention. Thus, it is apparent that there are many possible variations. It should also be appreciated that the illustrated embodiments are examples only, and are not to be construed as limiting the scope, applicability, or configuration of the invention in any way. Rather, the foregoing description and drawings depict examples to enable those skilled in the art to practice the exemplary embodiments, and will enable those skilled in the art to make various modifications based on the disclosed inventive concept, such as for example, specific reference to the function or arrangement of a particular element within an exemplary embodiment without departing from the scope of the present invention, as defined by the appended claims and their legal equivalents, e.g., as further described in the specification.
Reference numerals
101. Actuator, actuator A n
102. Control surface
103. Second interface
104. First interface
105. Unit
106. Force/moment controller REG n
107. Reference variable pre-control
108. Totalizer
109. Automatic flight controller, autopilot
110. Input device
SV AutoPilot Control preset value for autopilot
SV Pilot Pilot control preset value
F An.soll Reference variable
S FV Controlled variable pre-controlled by reference variable
S RE Torque controller REG n Control variable of
S SOLL S FV +S RE Summed control variables
POS An Actuator A n Position of
Min(POS An ) Position POS An Minimum value
MAX(POS An ) Position POS An Maximum value
201-203 method steps
Claims (7)
1. Open-loop and closed-loop control of n actuators A driving an aerodynamic control surface (102) of an aircraft n (101) The apparatus of (1), wherein N =1,2, a., N, and N ≧ 1, the apparatus comprising:
-a first interface (104) and/or a second interface (103) at which manual input in an input device (110) by a pilot is generated and provided for open-loop control of the actuator a n (101) Preset value SV of Pilot At said second interface, generating and providing for open loop control of actuator A by an automatic flight controller of the aircraft n (101) Preset value SV of AutoPilot ，
-a unit (105) according to each of said actuators a n (101) Preset value SV Pilot And/or SV AutoPilote Calculating open loop control of the actuator A n (101) Reference variable F An,soll And/or
Wherein the reference variable F An,soll To a desired force or a desired moment, and
each actuator A n (101) Each having a drive for said actuator A n (101) Closed-loop controlled force/torque controller REG n (106) The actuator A n (101) According to the corresponding reference variable F An,soll And/or
And by the actuator A n (101) Generated force/moment controlled variable F An The control variable being sensed by sensing means S1 n Detection, said sensing means S1 n Are respectively positioned at the actuators A n (101) Upper or said actuator A n (101) Within, or at, each of said actuators A n (101) In the drive train of (1);
-wherein each of said actuators has a sensing device S2 n Said sensing means S2 n Detecting the actuator A n (101) Current position POS An Or the actuator A n (101) And providing the current position to the force/torque controller REG n (106)；
-wherein the force/moment controller REG n (106) Thus closed-loop controlling the actuator A n (101): the position POS An Limited to the interval I1 An ＝[Min(POS An ),Max(POS An )]In, where Min (POS) An )≤POS An ≤Max(POS An ) The interval I1 An By a given interval boundary Min (POS) An ),Max(POS An ) Is defined, wherein each given interval I1 An In the interval I2 An ＝[Min mech (POS An ),Max mech (POS An )]In the interval I2 An Each interval final value Min mech (POS An ),Max mech (POS An ) Indicating position, each of said actuators A n (101) Or its respective control surface (102) is mechanically constrained at said location;
-wherein the function F (POS) An ) Through said interval I1 An Is defined, its value | F (POS) An ) L in the range Min (POS) only An ),Max(POS An ) Internally not negligible, wherein said function F (POS) An ) Selected such that | F (Min (POS) An ))|＝|F An,soll I and I F (Max (POS) An ))|＝|F An,soll And controlling the variable F An Feeding back to the force/moment controller REG n (106) So that F An ＝F An –F(POS An )。
2. The apparatus of claim 1, wherein each of the force/torque controllers REG n (106) Respectively having a processor PR n The processor PR n At processor clock frequency PT n Is operated and the unit (105) has a processor PR E The processor PR E At processor clock frequency PT E Working operation in which PT n >PT E 。
3. Device according to claim 1 or 2, wherein the control variable F An Feeding back to the force/torque controller REG n (106) So that F An Satisfies the following conditions: f An ＝F* An +F G Wherein F is G Is a constant balancing force acting on each control surface (102) and/or each actuator A n (101) Gravity compensation of the drive train of (1), or F G Is a self-balancing function, said self-balancing function being dependent on the POS An And/or time t.
4. The device according to claim 3, wherein the control variable F An Feeding back to the force/torque controller REG n (106) So that: f An ＝F* An +F D Or F An ＝F* An +F G +F D Wherein, F is D Satisfies the following conditions: f D ＝d(POS An ) And/dt multiplied by D, D is virtual damping.
5. The device according to claim 4, wherein the control variable F An Feeding back to the force/torque controller REG n (106) So that F An ＝F* An +F S Or F An ＝F* An +F G +F S Or F An ＝F* An +F D +F S Or F An ＝F* An +F D +F G +F S Wherein, F is caused S Satisfy F S ＝(POS An －POS ref ) XS, S is the virtual stiffness, POS ref Is a neutral position of each of the control surfaces (102), wherein the neutral position POS ref The definition is: no moment is generated in connection with the control surface (102) that triggers the movement of the aircraft.
6. An aircraft having a device as claimed in any one of claims 1 to 5.
7. Open-loop and closed-loop control of n actuators A driving an aerodynamic control surface (102) of an aircraft n (101) Wherein N =1,2,.., N, and N ≧ 1, the method comprises the steps of:
-providing open loop control of the actuator a n (101) Preset value SV of Pilot And/or SV AutoPilot The preset value SV Pilot Generated by manual input by the pilot at the input means (110), said preset value SV AutoPilot Generated by an automatic flight controller (109) of the aircraft,
according to each of said actuators A n (101) Preset value SV Pilot And/or SV AutoPilot Calculating open loop control of the actuator A n (101) Reference variable F of An,soll And/or time derivatives thereof
Wherein the reference variable F An,soll To a desired force or a desired moment, and
-according to the corresponding said reference variable F An,soll And/or
And by said actuator A n (101) Generated force/moment control variable F An Force/moment controller REG n (106) Closed-loop control of each of said actuators A n (101) The control variable being sensed by sensing means S1 n Detection, said sensing means S1 n Are respectively positioned at the actuators A n (101) Upper or said actuator A n (101) Within, or at, each of said actuators A n (101) In the drive train of (1);
-each of said actuators a n Respectively provided with a sensing device S2 n Said sensing means S2 n Detecting the actuator A n (101) Current position POS An Or the actuator A n (101) The current position of the corresponding control surface (102) and providing said current position to said force/torque controller REG n (106)；
-said force/torque controller REG n Thus closed-loop controlling the actuator A n : the position POS An Limited to the interval I1 An ＝[Min(POS An ),Max(POS An )]In, where Min (POS) An )≤POS An ≤Max(POS An ) The interval I1 An By a given interval boundary Min (POS) An ),Max(POS An ) Is defined, wherein each given interval I1 An In the interval I2 An ＝[Min mech (POS An ),Max mech (POS An )]In the interval I2 An Each interval of (1) finallyValue Min mech (POS An ),Max mech (POS An ) For position values, each of said actuators A n Or its respective control surface, is mechanically constrained at the position value;
-passing through said interval I1 An Defining a function F (Pos) An ) Value of | F (Pos) An ) In the interval range Min (POS) only An ),Max(POS An ) Internally not negligible, wherein said function F (POS) An ) Selected such that | F (Min (POS) An ))|＝|F An,soll I and I F (Max (POS) An ))|＝|F An,soll And a control variable F An Feeding back to the force/torque controller REG n So that F An ＝F An –F(POS An )。
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| Application Number | Priority Date | Filing Date | Title |
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| DE102016117634.6 | 2016-09-19 | ||
| DE102016117634.6A DE102016117634B4 (en) | 2016-09-19 | 2016-09-19 | Control of actuators that drive aerodynamic control surfaces of an aircraft |
| PCT/EP2017/073365 WO2018050868A1 (en) | 2016-09-19 | 2017-09-15 | Open and closed control of actuators which drive aerodynamic control surfaces of an aircraft |
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| CN109715494A CN109715494A (en) | 2019-05-03 |
| CN109715494B true CN109715494B (en) | 2023-02-28 |
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| Country | Link |
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| US (1) | US11396363B2 (en) |
| EP (1) | EP3515816B1 (en) |
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| CN114144740A (en) * | 2019-07-24 | 2022-03-04 | 索尼集团公司 | Remote control and method for autonomous flight modifying a predetermined trajectory of an unmanned aerial vehicle and system comprising a remote control and an unmanned aerial vehicle |
| WO2021098917A1 (en) | 2019-11-19 | 2021-05-27 | Technische Universität Berlin | Apparatus, assembly and method for controlling an actuating system of an aircraft in an open-loop and closed-loop manner |
| RU2736400C1 (en) * | 2019-12-31 | 2020-11-16 | Акционерное общество "Российская самолетостроительная корпорация "МиГ" (АО "РСК "МиГ") | Manned aircraft control system with adaptive cross link |
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102016117634A1 (en) | 2018-03-22 |
| DE102016117634B4 (en) | 2019-12-12 |
| US20190144101A1 (en) | 2019-05-16 |
| US11396363B2 (en) | 2022-07-26 |
| CN109715494A (en) | 2019-05-03 |
| WO2018050868A1 (en) | 2018-03-22 |
| EP3515816A1 (en) | 2019-07-31 |
| EP3515816B1 (en) | 2022-01-05 |
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